16.S498 | Fall 2019 | Graduate
Risk Aware and Robust Nonlinear Planning
Course Description
In this course, Dr. Ashkan Jasour addresses advanced probabilistic and robust optimization-based techniques for control and safety verification of nonlinear dynamical systems in the presence of uncertainties. Specifically, we will learn how to leverage rigorous mathematical tools, such as the …
In this course, Dr. Ashkan Jasour addresses advanced probabilistic and robust optimization-based techniques for control and safety verification of nonlinear dynamical systems in the presence of uncertainties. Specifically, we will learn how to leverage rigorous mathematical tools, such as the theory of measures and moments, the theory of nonnegative polynomials, and semidefinite programming, to develop convex optimization formulations to control and analyze uncertain nonlinear dynamical systems with applications in autonomous systems and robotics.
Learning Resource Types
assignment Problem Sets
group_work Projects
notes Lecture Notes
math diagram of semidefinite programming
Semidefinite programming-based methods for control and safety verification of uncertain nonlinear dynamical systems. (Image courtesy of the instructor.)